CN115217650A - Method and device for controlling air-fuel ratio of engine and controller - Google Patents
Method and device for controlling air-fuel ratio of engine and controller Download PDFInfo
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- 239000003345 natural gas Substances 0.000 claims abstract description 122
- 239000007789 gas Substances 0.000 claims abstract description 11
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
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- F02D41/0027—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures the fuel being gaseous
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application provides a method, a device and a controller for controlling air-fuel ratio of an engine, wherein the method comprises the following steps: acquiring the disturbance quantity output by the state observer; determining the current natural gas intake amount according to the last control quantity, the disturbance quantity and the target control quantity of the engine; and determining the current control quantity of the engine according to the current natural gas intake quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine. The disturbance quantity is directly estimated through the state observer, the response of the system is improved, and the accuracy of the current natural gas air input is further improved, so that the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio of the engine is low in control efficiency in the existing scheme is solved.
Description
Technical Field
The present invention relates to the field of engine control, and in particular, to a method, an apparatus, and a controller for controlling an air-fuel ratio of an engine.
Background
The air-fuel ratio of an engine refers to the ratio of mass between air and fuel in a mixture, and is generally expressed in grams of air consumed per gram of fuel burned.
The air-fuel ratio control efficiency of the engine in the existing scheme is low, so that the accuracy of the air-fuel ratio is low, and the subsequent control is influenced.
Disclosure of Invention
The application mainly aims to provide a method, a device and a controller for controlling an air-fuel ratio of an engine, so as to solve the problem that the air-fuel ratio control efficiency of the engine is low in the existing scheme.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling an air-fuel ratio of an engine, the method including: acquiring a disturbance quantity output by a state observer after a last control quantity of an engine is input into the state observer; determining the current natural gas intake amount according to the last control quantity, the disturbance quantity and the target control quantity of the engine, wherein the current natural gas intake amount is the flow of the natural gas entering the engine in unit time; and determining the current control quantity of the engine according to the current natural gas inlet quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
Optionally, the obtaining of the disturbance quantity output by the state observer includes: constructing a first relational expression of the last control quantity, the single-cylinder intake flow and the current natural gas intake flow according to the last control quantity and the single-cylinder intake flow, wherein the single-cylinder intake flow is the air flow entering into a single cylinder of the engine in unit time; constructing a second relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow and the current natural gas intake flow according to the first relational expression; according to the last controlled variable and the target controlled variable, a third relational expression of the differential of the last controlled variable and the target controlled variable is constructed; constructing a fourth relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow, the current natural gas intake quantity and a target control quantity according to the first relational expression, the second relational expression and the third relational expression; and determining the disturbance quantity according to the third relational expression and the fourth relational expression.
Optionally, constructing a first relation among the last control amount, the single-cylinder intake air flow and the current natural gas intake air amount according to the last control amount and the single-cylinder intake air flow comprises: constructing the first relational expression
Wherein N is the rotation speed, N is the number of cylinders,
for the current natural gas intake, m air Is the single cylinder intake air flow, phi is the last control quantity,
as a derivative of said last control quantity, E 1 And E 2 Are all constant.
Optionally, constructing a second relation among the disturbance amount, the last control amount, the single cylinder intake air flow rate, and the current natural gas intake air amount according to the first relation includes: constructing the second relational expression
Wherein lambda is the reciprocal of the last controlled variable,
is a derivative of the reciprocal of the last controlled variable, ω is the disturbance variable,
in order to feed forward the flow rate value,
in order to be the value of the transient flow,
for feedback of flow values, E 1 And E 2 Are all constant.
Optionally, constructing a third relation between the derivative of the last controlled variable and the target controlled variable according to the last controlled variable and the target controlled variable includes: constructing the third relational expression
Wherein, K p Is a scale factor, phi ref In order to be the target control amount,
is an estimate of the inverse of the last controlled variable,
is the derivative of the last control quantity.
Optionally, constructing a fourth relation among the disturbance quantity, the last control quantity, the single-cylinder intake flow rate, the current secondary natural gas intake quantity, and a target control quantity according to the first relation, the second relation, and the third relation includes: constructing the fourth relational expression
Wherein the content of the first and second substances,
C＝[1 0]，
wherein x is 1 ＝lambda，x 2 ＝ω，
The current natural gas intake amount is the current time, omega is the disturbance amount,lambda is the reciprocal of the last control quantity,
is the differential of the disturbance quantity.
Optionally, determining the disturbance quantity according to the third relation and the fourth relation includes: according to the fourth relational expression
Constructing a fifth relational expression
Wherein the estimated value of the state quantity x is
Is an estimate of the inverse of the last controlled variable,
an estimate of the output quantity y being an estimate of the differential of said disturbance quantity
The gain matrix is
β 1 And beta 2 Are all set values; and determining the disturbance quantity according to the third relation and the fifth relation.
Optionally, determining the current natural gas intake amount according to the last control amount of the engine, the disturbance amount and the target control amount comprises: and determining the current natural gas intake amount according to the last control quantity of the engine, the disturbance quantity, the third relational expression and the fifth relational expression.
Optionally, the current day is determined according to the fifth relationAfter the natural gas intake air amount, the method further comprises the following steps: according to the sixth relation
A feedback flow value is determined, wherein,
in order to feed forward the flow value,
in order to be the value of the transient flow,
and the feedback flow value is an electric signal output by a feedback controller of the engine and is used for determining the current time control quantity of the engine through the transient flow value and the feedback flow value.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for controlling an air-fuel ratio of an engine, the apparatus including a processing unit, a first determining unit, and a second determining unit; the processing unit is used for acquiring a disturbance quantity output by a state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of an engine is input into the state observer; the first determining unit is used for determining the current natural gas intake amount according to the last control quantity, the disturbance quantity and the target control quantity of the engine, wherein the current natural gas intake amount is the flow of the natural gas entering the engine in unit time; the second determination unit is used for determining a current control quantity of the engine according to the current natural gas intake quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
According to another aspect of an embodiment of the present invention, there is also provided a controller including one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for executing any one of the engine air-fuel ratios.
In the embodiment of the invention, the disturbance quantity output by the state observer is obtained, the current natural gas intake quantity is determined according to the last control quantity of the engine, the disturbance quantity and the target control quantity, the current control quantity of the engine is determined according to the current natural gas intake quantity, the disturbance quantity is directly estimated by the state observer, the response of the system is improved, the accuracy of the current natural gas intake quantity is improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is smaller, and the problem of lower air-fuel ratio control efficiency of the engine in the existing scheme is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application, and the description of the exemplary embodiments and their illustrations are intended to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a flowchart showing a control method of an air-fuel ratio of an engine according to an embodiment of the present application;
FIG. 2 is a schematic diagram showing an engine air-fuel ratio control apparatus according to an embodiment of the present application;
fig. 3 shows a control process diagram of a control scheme of the air-fuel ratio of the engine according to the embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the description and claims, when an element is referred to as being "connected" to another element, it can be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background art, in order to solve the problem that the efficiency of controlling the air-fuel ratio of the engine in the conventional scheme is low, so that the accuracy of the air-fuel ratio is low, and further the subsequent control is affected, in the conventional scheme, the accuracy of the air-fuel ratio is low, and further the subsequent control is affected, in a typical embodiment of the present application, a method, a device and a controller for controlling the air-fuel ratio of the engine are provided.
According to an embodiment of the present application, a method of controlling an air-fuel ratio of an engine is provided.
Fig. 1 is a flowchart of a control method of an engine air-fuel ratio according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring a disturbance quantity output by a state observer, wherein the disturbance quantity is output by the state observer after a last control quantity of an engine is input into the state observer;
step S102, determining the current natural gas intake quantity according to the last control quantity, the disturbance quantity and the target control quantity of the engine, wherein the current natural gas intake quantity is the flow of the natural gas entering the engine in unit time;
and step S103, determining a current control quantity of the engine according to the current natural gas intake quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
In the above steps, the disturbance quantity output by the state observer is obtained, the current time natural gas air input is determined according to the last control quantity of the engine, the disturbance quantity and the target control quantity, the current time control quantity of the engine is determined according to the current time natural gas air input, the disturbance quantity is directly estimated through the state observer, the response of the system is improved, and the accuracy of the current time natural gas air input is further improved, so that the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio control efficiency of the engine is low in the existing scheme is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
In one embodiment of the present application, the obtaining of the disturbance quantity output by the state observer includes: constructing a first relation among the last control flow, the single-cylinder intake flow and the current natural gas intake flow according to the last control flow and the single-cylinder intake flow, wherein the single-cylinder intake flow is the air flow entering a single cylinder of the engine in unit time; constructing a second relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow and the current natural gas intake quantity according to the first relational expression; constructing a third relational expression between the differential of the last controlled variable and the target controlled variable based on the last controlled variable and the target controlled variable; constructing a fourth relational expression of the disturbance amount, the last control amount, the single-cylinder intake flow, the current natural gas intake amount, and the target control amount, based on the first relational expression, the second relational expression, and the third relational expression; and determining the disturbance amount according to the third relational expression and the fourth relational expression. The accuracy of the current natural gas intake amount calculation can be improved by bringing the disturbance amount and the target control amount into the current natural gas intake amount calculation, so that the air-fuel ratio of the engine can reach an expected value.
In one embodiment of the present application, the first relational expression for constructing the last control amount, the single-cylinder intake flow rate, and the current natural gas intake air amount based on the last control amount and the single-cylinder intake flow rate includes: constructing the first relational expression
Wherein N is the rotation speed, N is the number of cylinders,
for the current gas intake, m air The single-cylinder intake flow, phi the last control flow,
for the differentiation of the last control quantity, E 1 And E 2 Are all constant. Therefore, the relation among the last control quantity, the single-cylinder intake flow and the current natural gas intake quantity can be embodied.
In one embodiment of the present application, the disturbance amount, the last control amount, and the single advancing are constructed according to the first relational expressionThe second relation between the gas flow and the current natural gas intake quantity comprises the following steps: constructing the second relational expression
Wherein lambda is the reciprocal of the last controlled variable,
ω is the difference of the reciprocal of the last controlled variable, ω is the disturbance variable,
in order to feed forward the flow rate value,
in order to be the value of the transient flow,
for feedback of flow values, E 1 And E 2 Are all constant. Therefore, the relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity can be embodied, the disturbance quantity is brought into the calculation of the current natural gas inlet quantity, and the accuracy of the calculation of the current natural gas inlet quantity can be improved.
In an embodiment of the present application, constructing a third relational expression of the derivative of the previous controlled variable and the target controlled variable based on the previous controlled variable and the target controlled variable includes: constructing the third relation
Wherein, K p Is a scale factor, phi ref In order for the above-mentioned target control amount,
which is an estimate of the reciprocal of the last controlled variable,
for the last controlAnd (4) dividing. The accuracy of the current calculation of the natural gas intake amount can be improved by substituting the target control amount into the calculation of the natural gas intake amount.
In one embodiment of the present application, constructing a fourth relational expression of the disturbance amount, the previous control amount, the single cylinder intake flow rate, the current natural gas intake air amount, and the target control amount based on the first relational expression, the second relational expression, and the third relational expression includes: constructing the fourth relational expression
Wherein the content of the first and second substances,
C＝[1 0]，
wherein x is 1 ＝lambda，x 2 ＝ω， 
The current natural gas intake quantity is, omega is the disturbance quantity, lambda is the reciprocal of the last control quantity,
is the differential of the disturbance quantity. And the relationship among the disturbance quantity, the last control quantity, the single-cylinder intake flow, the current natural gas intake quantity and the target control quantity is shown by the fourth relational expression.
In an embodiment of the present application, the determining the disturbance variable according to the third relational expression and the fourth relational expression includes: according to the fourth relational expression
Constructing a fifth relational expression
Wherein the estimated value of the state quantity x is
Which is an estimate of the reciprocal of the last controlled variable,
the estimated value of the output quantity y is an estimated value of the differential of the disturbance quantity
The gain matrix is
β 1 And beta 2 Are all set values; and determining the disturbance amount according to the third relational expression and the fifth relational expression. The value of the disturbance quantity can be determined through the fifth relational expression and the third relational expression, so that the accuracy of subsequently determining the current natural gas intake quantity is improved. Configuring L so that the A and C matrix eigenroots are in the left half of the complex plane, the state observer is stable.
In an embodiment of the present application, determining the current natural gas intake amount according to the last control amount of the engine, the disturbance amount, and the target control amount includes: and determining the current natural gas intake quantity according to the last control quantity of the engine, the disturbance quantity, the third relational expression and the fifth relational expression. Thereby improving the accuracy of the current natural gas intake.
In an embodiment of the application, after determining the current sub-natural gas intake amount according to the fifth relation, the method further includes: according to a sixth relation
A feedback flow value is determined, wherein,
in order to feed forward the flow value,
is a value of the flow rate in the transient state,
the feedback flow value is an electric signal output by a feedback controller of the engine, and is used for determining the current control quantity of the engine according to the transient flow value and the feedback flow value. The feedback flow value output by the feedback controller and the disturbance quantity output by the state observer realize the closed-loop feedback of the system.
The embodiment of the present application further provides a control device of an air-fuel ratio of an engine, and it should be noted that the control device of the air-fuel ratio of the engine according to the embodiment of the present application can be used to execute the control method for the air-fuel ratio of the engine according to the embodiment of the present application. The following describes an engine air-fuel ratio control device according to an embodiment of the present application.
Fig. 2 is a schematic diagram of an engine air-fuel ratio control apparatus according to an embodiment of the present application. As shown in fig. 2, the apparatus includes a processing unit 10, a first determining unit 20, and a second determining unit 30;
the processing unit 10 is configured to acquire a disturbance amount output by a state observer after a last control amount of the engine is input to the state observer; the first determining unit 20 is configured to determine a current natural gas intake amount according to the last control amount, the disturbance amount, and the target control amount of the engine, where the current natural gas intake amount is a flow rate of natural gas entering the engine in a unit time; the second determining unit 30 is configured to determine a current control amount of the engine according to the current natural gas intake air amount, where the current control amount of the engine is used to control an opening degree of a gas valve of the engine to adjust an air-fuel ratio of the engine.
In the device, the disturbance quantity output by the state observer is obtained, the current natural gas air inflow is determined according to the last control quantity, the disturbance quantity and the target control quantity of the engine, the current control quantity of the engine is determined according to the current natural gas air inflow, the disturbance quantity is directly estimated through the state observer, the response of a system is improved, the accuracy of the current natural gas air inflow is improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio of the engine is low in control efficiency in the existing scheme is solved.
In an embodiment of the application, the processing unit includes a first constructing module, a second constructing module, a third constructing module, a fourth constructing module and a first determining module, wherein the first constructing module is configured to construct a first relation among the last control flow, the single-cylinder intake flow and the current secondary natural gas intake flow according to the last control flow and the single-cylinder intake flow, and the single-cylinder intake flow is an air flow entering a single cylinder of the engine per unit time; the second construction module is used for constructing a second relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow and the current natural gas intake quantity according to the first relational expression; the third construction module is used for constructing a third relational expression of the differential of the last controlled variable and the target controlled variable according to the last controlled variable and the target controlled variable; the fourth construction module is used for constructing a fourth relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow, the current secondary natural gas intake quantity and the target control quantity according to the first relational expression, the second relational expression and the third relational expression; the first determining module is configured to determine the disturbance amount according to the third relational expression and the fourth relational expression. The disturbance quantity and the target control quantity are brought into the calculation of the current natural gas intake quantity, so that the accuracy of the calculation of the current natural gas intake quantity can be improved, and the air-fuel ratio of the engine can reach an expected value. The disturbance quantity and the target control quantity are brought into the calculation of the current natural gas intake quantity, so that the accuracy of the calculation of the current natural gas intake quantity can be improved, and the air-fuel ratio of the engine can reach an expected value.
In an embodiment of the application, the first building block comprises a first building submodule for building the first relation
Wherein N is the rotation speed, N is the number of cylinders,
m is the current natural gas intake quantity air The single-cylinder intake flow, phi the last control flow,
for the above differentiation of the last controlled variable, E 1 And E 2 Are all constant. Therefore, the relation among the last control quantity, the single-cylinder intake flow and the current natural gas intake quantity can be embodied.
In an embodiment of the application, the second building module comprises a second building submodule, and the second building submodule is used for building the second relational expression
Wherein lambda is the reciprocal of the last controlled variable,
ω is the difference of the reciprocal of the last controlled variable, ω is the disturbance variable,
in order to feed forward the flow value,
is a value of the flow rate in the transient state,
for feedback of flow values, E 1 And E 2 Are all normal amounts. Therefore, the relationship among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas air inlet quantity can be embodied, the disturbance quantity is brought into the calculation of the current natural gas air inlet quantity, and the accuracy of the calculation of the current natural gas air inlet quantity can be improved.
In an embodiment of the application, the third building block comprises a third building submodule for building the third relation
Wherein, K p Is a scale factor, phi ref In order for the above-mentioned target control amount,
which is an estimate of the reciprocal of the last controlled variable,
is the derivative of the last control quantity. The accuracy of the current natural gas inflow calculation can be improved by bringing the target control quantity into the natural gas inflow calculation.
In an embodiment of the application, the fourth building block comprises a fourth building submodule, and the fourth building submodule is configured to build the fourth relation
Wherein the content of the first and second substances,
C＝[1 0]，
wherein x is 1 ＝lambda，x 2 ＝ω，
At the current natural gas intake amount, omega is the aboveThe disturbance amount lambda is the reciprocal of the previous control amount,
is the differential of the disturbance quantity. And the relationship among the disturbance quantity, the last control quantity, the single-cylinder intake flow, the current natural gas intake quantity and the target control quantity is shown by the fourth relational expression.
In an embodiment of the application, the first determining module comprises a fifth constructing submodule and a determining submodule, the fifth constructing submodule is used for determining the fourth relation according to the fourth relation
Constructing a fifth relational expression
Wherein the estimated value of the state quantity x is
Which is an estimate of the reciprocal of the last controlled variable,
an estimate of the output y is an estimate of the differential of the disturbance quantity
The gain matrix is
β 1 And beta 2 Are all set values; the determining submodule is configured to determine the disturbance amount according to the third relational expression and the fifth relational expression. Configuring L so that the A and C matrix eigenroots are in the left half of the complex plane, the state observer is stable. The value of the disturbance quantity can be determined through the fifth relation and the third relation, so that the subsequent determination of the current natural gas intake is improvedAccuracy of the gas volume.
In one embodiment of the present application, the first determining unit includes a second determining module, and the second determining module is configured to determine the current natural gas intake amount according to the last control amount of the engine, the disturbance amount, the third relational expression, and the fifth relational expression. Thereby improving the accuracy of the current natural gas intake amount.
In an embodiment of the application, the apparatus further includes a third determining unit, configured to determine the current natural gas intake air amount according to a sixth relational expression after determining the current natural gas intake air amount according to the fifth relational expression
A feedback flow value is determined, wherein,
in order to feed forward the flow value,
is a value of the flow rate in the transient state,
the feedback flow value is an electric signal output by a feedback controller of the engine, and is used for determining the current control quantity of the engine according to the transient flow value and the feedback flow value. The closed-loop feedback of the system is realized by outputting a feedback flow value through the feedback controller and outputting a disturbance quantity through the state observer.
The control device of the air-fuel ratio of the engine comprises a processor and a memory, wherein the processing unit, the first determining unit and the second determining unit are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the air-fuel ratio control efficiency of the engine is low in the existing scheme is solved by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the invention provides a processor, which is used for running a program, wherein the control method of the air-fuel ratio of the engine is executed when the program runs.
An embodiment of the present invention provides an apparatus, where the apparatus includes a processor, a memory, and a program that is stored in the memory and is executable on the processor, and when the processor executes the program, at least the following steps are implemented: acquiring a disturbance quantity output by a state observer after a last control quantity of an engine is input into the state observer; determining the current natural gas intake quantity according to the last control quantity, the disturbance quantity and the target control quantity of the engine, wherein the current natural gas intake quantity is the flow of the natural gas entering the engine in unit time; and determining a current control quantity of the engine according to the current natural gas intake quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
Embodiments of the present application also provide a controller comprising one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a control method for performing any one of the above-described engine air-fuel ratios. The disturbance quantity output by the state observer is obtained, the current natural gas inflow is determined according to the last control quantity, the disturbance quantity and the target control quantity of the engine, the current control quantity of the engine is determined according to the current natural gas inflow, the disturbance quantity is directly estimated through the state observer, the response of a system is improved, and the accuracy of the current natural gas inflow is improved, so that the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio of the engine is low in control efficiency in the existing scheme is solved.
In order to make the technical solutions of the present application more clearly understood by those skilled in the art, the technical solutions and technical effects of the present application will be described below with reference to specific embodiments.
Examples
The embodiment of the present application further provides a control scheme of an air-fuel ratio of an engine, which is applied to a control system of the air-fuel ratio of the engine, and the system includes a controller, a feedback controller, the engine and a state observer, the controller is respectively electrically connected with the feedback controller, the engine and the state observer, the engine is respectively electrically connected with the feedback controller and the state observer, as shown in fig. 3, the scheme includes the following steps:
step 1: the state observer receives the last control quantity output by the engine;
step 2: the state observer shows the relationship among the disturbance quantity, the last control quantity, the single-cylinder intake flow and the current natural gas intake flow through a second relational expression, wherein the second relational expression
lambda is the reciprocal of the last control quantity,
is the derivative of the reciprocal of the previous controlled variable, ω is the disturbance variable,
in order to feed forward the flow value,
is a value of the flow rate in the transient state,
for feedback of flow values, E 1 And E 2 Are all constant, e.g. E 1 Is 60,E 2 Is 16.7;
and step 3: the state observer indicates the relationship between the derivative of the last controlled variable and the target controlled variable by a third relational expression, wherein the third relational expression
K p As a scale factor, phi ref In order for the above-mentioned target control amount,
which is an estimate of the reciprocal of the last controlled variable,
is the differential of the last control quantity;
and 4, step 4: the state observer shows the relationship among the disturbance quantity, the last control quantity, the single-cylinder intake flow, the current natural gas intake quantity and the target control quantity through a fourth relational expression, wherein the fourth relational expression
Wherein the content of the first and second substances,
C＝[1 0]，
wherein x is 1 ＝lambda， x 2 ＝ω，
The current natural gas intake quantity is, omega is the disturbance quantity, lambda is the reciprocal of the last control quantity,
is the differential of the disturbance quantity;
and 5: the controller controls the state observer to determine a fifth relational expression through the fourth relational expression and determine the disturbance quantity according to the fifth relational expression and the third relational expression, wherein the fifth relational expression
The estimated value of the state quantity x is
Which is an estimate of the reciprocal of the last controlled variable,
an estimate of the output y is an estimate of the differential of the disturbance quantity
The gain matrix is
β 1 And beta 2 Are all set values;
step 6: the feedback controller determines the feedback flow value to be output by the feedback controller according to a sixth relational expression, wherein the sixth relational expression
A feedback flow value is determined, wherein,
in order to feed forward the flow rate value,
is a value of the flow rate in the transient state,
the feedback flow value is obtained;
and 7: and the controller determines the current control quantity of the engine according to the feedback flow value, the transient flow value and the feedback flow value, so that the engine controls the opening of an air valve of the engine to adjust the air-fuel ratio of the engine.
The disturbance quantity output by the state observer is obtained, the current natural gas air inflow is determined according to the last control quantity, the disturbance quantity and the target control quantity of the engine, the current control quantity of the engine is determined according to the current natural gas air inflow, the disturbance quantity is directly estimated through the state observer, the response of a system is improved, the accuracy of the current natural gas air inflow is improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio of the engine is low in control efficiency in the existing scheme is solved.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) According to the control method of the air-fuel ratio of the engine, the disturbance quantity output by the state observer is obtained, the current natural gas air inflow is determined according to the last control quantity of the engine, the disturbance quantity and the target control quantity, the current control quantity of the engine is determined according to the current natural gas air inflow, the disturbance quantity is directly estimated through the state observer, the response of the system is improved, the accuracy of the current natural gas air inflow is improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio of the engine is low in control efficiency in the existing scheme is solved.
2) According to the control device of the air-fuel ratio of the engine, the disturbance quantity output by the state observer is obtained, the current time natural gas air inflow is determined according to the last control quantity of the engine, the disturbance quantity and the target control quantity, the current time control quantity of the engine is determined according to the current time natural gas air inflow, the disturbance quantity is directly estimated through the state observer, the response of the system is improved, the accuracy of the current time natural gas air inflow is improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio of the engine is low in control efficiency in the existing scheme is solved.
3) The controller determines the current natural gas air input according to the disturbance quantity output by the state observer, the previous control quantity of the engine, the disturbance quantity and the target control quantity, determines the current control quantity of the engine according to the current natural gas air input, and directly estimates the disturbance quantity through the state observer, so that the response of the system is improved, the accuracy of the current natural gas air input is improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio control efficiency of the engine is low in the existing scheme is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A method of controlling an air-fuel ratio of an engine, comprising:
acquiring a disturbance quantity output by a state observer after a last control quantity of an engine is input into the state observer;
determining the current natural gas intake amount according to the last control quantity, the disturbance quantity and the target control quantity of the engine, wherein the current natural gas intake amount is the flow of the natural gas entering the engine in unit time;
and determining the current control quantity of the engine according to the current natural gas inlet quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
2. The method of claim 1, wherein obtaining the disturbance variable output by the state observer comprises:
constructing a first relational expression of the last control quantity, the single-cylinder intake flow and the current natural gas intake flow according to the last control quantity and the single-cylinder intake flow, wherein the single-cylinder intake flow is the air flow entering into a single cylinder of the engine in unit time;
constructing a second relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow and the current natural gas intake flow according to the first relational expression;
according to the last controlled variable and the target controlled variable, a third relational expression of the differentiation of the last controlled variable and the target controlled variable is constructed;
constructing a fourth relational expression of the disturbance quantity, the last control quantity, the single-cylinder intake flow, the current natural gas intake quantity and a target control quantity according to the first relational expression, the second relational expression and the third relational expression;
and determining the disturbance quantity according to the third relational expression and the fourth relational expression.
3. The method of claim 2, wherein constructing a first relationship among the last control amount, the single cylinder intake flow rate, and the current time natural gas intake amount based on the last control amount and the single cylinder intake flow rate comprises:
constructing the first relational expression
Wherein N is the rotation speed, N is the number of cylinders,
m is the current natural gas air input air Is the single cylinder intake air flow, phi is the last control quantity,
for the differentiation of the last control quantity, E 1 And E 2 Are all constant.
4. The method according to claim 2, wherein constructing a second relation among the disturbance quantity, the last control quantity, the single cylinder intake flow rate, and the current time natural gas intake flow rate based on the first relation includes:
constructing the second relational expression
Wherein lambda is the reciprocal of the last controlled variable,
is a derivative of an inverse of the last controlled variable, ω is the disturbance variable,
in order to feed forward the flow value,
is a value of the flow rate in the transient state,
for feedback of flow values, E 1 And E 2 Are all constant.
5. The method according to claim 2, wherein constructing a third relational expression of the derivative of the last controlled quantity and the target controlled quantity based on the last controlled quantity and the target controlled quantity comprises:
constructing the third relational expression
Wherein, K p As a scale factor, phi ref In order to be the target control amount,
is an estimate of the inverse of the last controlled variable,
is the derivative of the last control quantity.
6. The method according to claim 2, wherein constructing a fourth relational expression of the disturbance quantity, the last control quantity, the single cylinder intake flow rate, the current natural gas intake quantity, and a target control quantity according to the first relational expression, the second relational expression, and the third relational expression includes:
constructing the fourth relational expression
Wherein, the first and the second end of the pipe are connected with each other,
7. The method of claim 6, wherein determining the disturbance variable according to the third relation and the fourth relation comprises:
according to the fourth relational expression
Constructing a fifth relational expression
Wherein the estimated value of the state quantity x is
Is an estimate of the inverse of the last controlled variable,
is an estimate of the differential of said disturbance variable, and the output y is an estimate of
The gain matrix is
β 1 And beta 2 Are all set values;
and determining the disturbance quantity according to the third relational expression and the fifth relational expression.
8. The method according to claim 7, wherein determining the current natural gas intake amount based on the last control amount of the engine, the disturbance amount, and a target control amount comprises:
and determining the current natural gas intake amount according to the last control quantity of the engine, the disturbance quantity, the third relational expression and the fifth relational expression.
9. The method according to claim 8, wherein after determining the current time natural gas intake amount according to the fifth relational expression, the method further comprises:
according to the sixth relation
A feedback flow value is determined, wherein,
in order to feed forward the flow rate value,
in order to be the value of the transient flow,
and the feedback flow value is an electric signal output by a feedback controller of the engine and used for determining the current secondary control quantity of the engine through the transient flow value and the feedback flow value.
10. An air-fuel ratio control apparatus for an engine, characterized by comprising:
a processing unit for acquiring a disturbance amount output by a state observer, wherein the disturbance amount is output by the state observer after a last control amount of an engine is input into the state observer;
the first determining unit is used for determining the current natural gas air inflow according to the last control quantity, the disturbance quantity and the target control quantity of the engine, wherein the current natural gas air inflow is the flow of the natural gas entering the engine in unit time;
and the second determining unit is used for determining the current control quantity of the engine according to the current natural gas intake quantity, wherein the current control quantity of the engine is used for controlling the opening of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
11. A controller, comprising: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the method of controlling the air-fuel ratio of the engine of any of claims 1-9.
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